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Patent Agency Ranking
公开(公告)号：US11669980B2
公开(公告)日：2023-06-06
申请号：US17384654
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Nichola Abdo , Christopher John Sweeney , Robert William Anderson
CPC classification number: G06T7/269 , G06T7/248 , G06T2207/10028 , G06T2207/20084 , G06T2207/30261
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating motion detection based on optical flow. One of the methods includes obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene at a second later time point. A point cloud characterizing the scene in the environment is obtained. A predicted optical flow is determined between the first image and the second image. A respective initial flow prediction for the point that represents motion of the point between the two time points is determined. A respective ego motion flow estimate for the point that represents a motion of the point induced by ego motion of the agent is determined. A respective motion prediction that indicates whether the point was static or in motion between the two time points is determined.
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公开(公告)号：US20230033989A1
公开(公告)日：2023-02-02
申请号：US17384654
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Nichola Abdo , Christopher John Sweeney , Robert William Anderson
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating motion detection based on optical flow. One of the methods includes obtaining a first image of a scene in an environment taken by an agent at a first time point and a second image of the scene at a second later time point. A point cloud characterizing the scene in the environment is obtained. A predicted optical flow is determined between the first image and the second image. A respective initial flow prediction for the point that represents motion of the point between the two time points is determined. A respective ego motion flow estimate for the point that represents a motion of the point induced by ego motion of the agent is determined. A respective motion prediction that indicates whether the point was static or in motion between the two time points is determined.
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公开(公告)号：US20230035454A1
公开(公告)日：2023-02-02
申请号：US17384637
申请日：2021-07-23
Applicant: Waymo LLC
Inventor： Daniel Rudolf Maurer , Alper Ayvaci , Robert William Anderson , Rico Jonschkowski , Austin Charles Stone , Anelia Angelova , Nichola Abdo , Christopher John Sweeney
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating an optical flow label from a lidar point cloud. One of the methods includes obtaining data specifying a training example, including a first image of a scene in an environment captured at a first time point and a second image of the scene in the environment captured at a second time point. For each of a plurality of lidar points, a respective second corresponding pixel in the second image is obtained and a respective velocity estimate for the lidar point at the second time point is obtained. A respective first corresponding pixel in the first image is determined using the velocity estimate for the lidar point. A proxy optical flow ground truth for the training example is generated based on an estimate of optical flow of the pixel between the first and second images.
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公开(公告)号：US12106528B2
公开(公告)日：2024-10-01
申请号：US17684334
申请日：2022-03-01
Applicant: Waymo LLC
Inventor： Nichola Abdo , Jonathon Shlens , Zhifeng Chen , Christopher John Sweeney , Philipp Florian Jund
IPC: G06T9/00 , G06F18/214
CPC classification number: G06T9/002 , G06F18/2148
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.
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公开(公告)号：US20220319054A1
公开(公告)日：2022-10-06
申请号：US17684334
申请日：2022-03-01
Applicant: Waymo LLC
Inventor： Nichola Abdo , Jonathon Shlens , Zhifeng Chen , Christopher John Sweeney , Philipp Florian Jund
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting scene flow. One of the methods includes obtaining a current point cloud representing an observed scene at a current time point; obtaining object label data that identifies a first three-dimensional region in the observed scene; determining, for each current three-dimensional point that is within the first three-dimensional region and using the object label data, a respective preceding position of the current three-dimensional point at a preceding time point in a reference frame of the sensor at the current time point; and generating, using the preceding positions, a scene flow label for the current point cloud that comprises a respective ground truth motion vector for each of a plurality of the current three-dimensional points.
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